// locates and starts the available depth-sensors and their interfaces
private void StartDepthSensors()
{
try
{
// try to initialize the available sensors
KinectInterop.FrameSource dwFlags = GetFrameSourceFlags();
// locate the available depth-sensor interfaces in the scene
List <DepthSensorBase> sensorInts = new List <DepthSensorBase>();
sensorInts.AddRange(gameObject.GetComponents <DepthSensorBase>()); // FindObjectsOfType<MonoBehaviour>();
sensorInts.AddRange(gameObject.GetComponentsInChildren <DepthSensorBase>());
if (sensorInts.Count == 0)
{
// by-default add K4A interface
transform.position = new Vector3(0f, 1f, 0f);
transform.rotation = Quaternion.identity;
DepthSensorBase sensorInt = gameObject.AddComponent <Kinect4AzureInterface>();
sensorInts.Add(sensorInt);
}
for (int i = 0; i < sensorInts.Count; i++)
{
if (sensorInts[i] is DepthSensorBase)
{
DepthSensorBase sensorInt = (DepthSensorBase)sensorInts[i];
if (!sensorInt.enabled || sensorInt.deviceStreamingMode == KinectInterop.DeviceStreamingMode.Disabled || sensorInt.deviceIndex < 0)
{
Debug.Log(string.Format("S{0}: {1} disabled.", i, sensorInt.GetType().Name));
continue;
}
try
{
Debug.Log(string.Format("Opening S{0}: {1}, device-index: {2}", i, sensorInt.GetType().Name, sensorInt.deviceIndex));
KinectInterop.SensorData sensorData = sensorInt.OpenSensor(dwFlags, syncDepthAndColor, false);
if (sensorData != null)
{
//Debug.Log("Succeeded opening " + sensorInt.GetType().Name);
sensorData.sensorInterface = sensorInt;
KinectInterop.InitSensorData(sensorData, this);
sensorInterfaces.Add(sensorInt);
sensorDatas.Add(sensorData);
if (pollFramesInThread)
{
sensorData.threadStopEvent = new AutoResetEvent(false);
sensorData.pollFramesThread = new Thread(() => PollFramesThread(sensorData));
sensorData.pollFramesThread.IsBackground = true;
sensorData.pollFramesThread.Start();
}
}
}
catch (Exception ex)
{
Debug.LogException(ex);
Debug.LogError("Failed opening " + sensorInt.GetType().Name + ", device-index: " + sensorInt.deviceIndex);
}
}
}
Debug.Log(string.Format("{0} sensor(s) opened.", sensorDatas.Count));
// set initialization status
if (sensorInterfaces.Count > 0)
{
kinectInitialized = true;
}
else
{
kinectInitialized = false;
string sErrorMessage = "No suitable depth-sensor found. Please check the connected devices and installed SDKs.";
Debug.LogError(sErrorMessage);
if (statusInfoText != null)
{
statusInfoText.text = sErrorMessage;
}
}
}
//catch (DllNotFoundException ex)
//{
// string message = ex.Message + " cannot be loaded. Please check the respective SDK installation.";
// Debug.LogError(message);
// Debug.LogException(ex);
// if (calibrationText != null)
// {
// calibrationText.text = message;
// }
// return;
//}
catch (Exception ex)
{
string message = ex.Message;
Debug.LogError(message);
Debug.LogException(ex);
if (statusInfoText != null)
{
statusInfoText.text = message;
}
return;
}
}
// initializes background removal with shaders
private bool InitBackgroundRemoval(KinectInterop.SensorData sensorData)
{
if (sensorData != null && sensorData.sensorInterface != null && KinectInterop.IsDirectX11Available())
{
if (filterByBody != null)
{
if (!filterByBody.InitBackgroundRemoval(sensorData, MAX_BODY_COUNT))
{
Debug.LogError("Could not init the background removal by body bounds!");
return(false);
}
}
else if (filterByBI != null)
{
if (!filterByBI.InitBackgroundRemoval(sensorData))
{
Debug.LogError("Could not init the background removal by body index!");
return(false);
}
}
else if (filterByGS != null)
{
if (!filterByGS.InitBackgroundRemoval(sensorData))
{
Debug.LogError("Could not init the background removal by green screen!");
return(false);
}
}
sensorInt = (DepthSensorBase)sensorData.sensorInterface;
// set the texture resolution
if (sensorInt.pointCloudColorTexture == null && sensorInt.pointCloudVertexTexture == null)
{
sensorInt.pointCloudResolution = foregroundImageResolution;
}
textureRes = sensorInt.GetPointCloudTexResolution(sensorData);
if (sensorInt.pointCloudColorTexture == null)
{
colorTexture = KinectInterop.CreateRenderTexture(colorTexture, textureRes.x, textureRes.y, RenderTextureFormat.ARGB32);
sensorInt.pointCloudColorTexture = colorTexture;
bColorTextureCreated = true;
}
else
{
colorTexture = sensorInt.pointCloudColorTexture;
bColorTextureCreated = false;
}
if (filterByBody != null || filterByDist != null)
{
if (sensorInt.pointCloudVertexTexture == null)
{
vertexTexture = KinectInterop.CreateRenderTexture(vertexTexture, textureRes.x, textureRes.y, RenderTextureFormat.ARGBHalf);
sensorInt.pointCloudVertexTexture = vertexTexture;
bVertexTextureCreated = true;
}
else
{
vertexTexture = sensorInt.pointCloudVertexTexture;
bVertexTextureCreated = false;
}
}
alphaTexture = KinectInterop.CreateRenderTexture(alphaTexture, textureRes.x, textureRes.y, RenderTextureFormat.ARGB32);
foregroundTexture = KinectInterop.CreateRenderTexture(foregroundTexture, textureRes.x, textureRes.y, RenderTextureFormat.ARGB32);
Shader erodeShader = Shader.Find("Kinect/ErodeShader");
erodeFilterMat = new Material(erodeShader);
erodeFilterMat.SetFloat("_TexResX", (float)textureRes.x);
erodeFilterMat.SetFloat("_TexResY", (float)textureRes.y);
//sensorData.erodeBodyMaterial.SetTexture("_MainTex", sensorData.bodyIndexTexture);
Shader dilateShader = Shader.Find("Kinect/DilateShader");
dilateFilterMat = new Material(dilateShader);
dilateFilterMat.SetFloat("_TexResX", (float)textureRes.x);
dilateFilterMat.SetFloat("_TexResY", (float)textureRes.y);
//sensorData.dilateBodyMaterial.SetTexture("_MainTex", sensorData.bodyIndexTexture);
Shader gradientShader = Shader.Find("Kinect/GradientShader");
gradientFilterMat = new Material(gradientShader);
Shader medianShader = Shader.Find("Kinect/MedianShader");
medianFilterMat = new Material(medianShader);
//sensorData.medianBodyMaterial.SetFloat("_Amount", 1.0f);
Shader blurShader = Shader.Find("Kinect/BlurShader");
blurFilterMat = new Material(blurShader);
Shader invertShader = Shader.Find("Kinect/InvertShader");
invertAlphaMat = new Material(invertShader);
Shader foregroundShader = Shader.Find("Kinect/ForegroundShader");
foregroundMat = new Material(foregroundShader);
return(true);
}
return(false);
}
// initializes background removal with shaders
private bool InitBackgroundRemoval(KinectInterop.SensorData sensorData)
{
if (sensorData != null && sensorData.sensorInterface != null && KinectInterop.IsDirectX11Available())
{
sensorInt = (DepthSensorBase)sensorData.sensorInterface;
if (filterByBI != null)
{
if (!filterByBI.InitBackgroundRemoval(sensorData))
{
Debug.LogError("Could not init the background removal by body index!");
return(false);
}
}
// set the texture resolution
if (sensorInt.pointCloudColorTexture == null && sensorInt.pointCloudVertexTexture == null)
{
sensorInt.pointCloudResolution = foregroundImageResolution;
}
textureRes = sensorInt.GetPointCloudTexResolution(sensorData);
colorTexture = KinectInterop.CreateRenderTexture(colorTexture, textureRes.x, textureRes.y, RenderTextureFormat.ARGB32);
if (filterByBI == null)
{
vertexTexture = KinectInterop.CreateRenderTexture(vertexTexture, textureRes.x, textureRes.y, RenderTextureFormat.ARGBHalf);
}
alphaTexture = KinectInterop.CreateRenderTexture(alphaTexture, textureRes.x, textureRes.y, RenderTextureFormat.ARGB32);
foregroundTexture = KinectInterop.CreateRenderTexture(foregroundTexture, textureRes.x, textureRes.y, RenderTextureFormat.ARGB32);
sensorInt.pointCloudColorTexture = colorTexture;
sensorInt.pointCloudVertexTexture = vertexTexture;
Shader erodeShader = Shader.Find("Kinect/ErodeShader");
erodeFilterMat = new Material(erodeShader);
erodeFilterMat.SetFloat("_TexResX", (float)textureRes.x);
erodeFilterMat.SetFloat("_TexResY", (float)textureRes.y);
//sensorData.erodeBodyMaterial.SetTexture("_MainTex", sensorData.bodyIndexTexture);
Shader dilateShader = Shader.Find("Kinect/DilateShader");
dilateFilterMat = new Material(dilateShader);
dilateFilterMat.SetFloat("_TexResX", (float)textureRes.x);
dilateFilterMat.SetFloat("_TexResY", (float)textureRes.y);
//sensorData.dilateBodyMaterial.SetTexture("_MainTex", sensorData.bodyIndexTexture);
Shader gradientShader = Shader.Find("Kinect/GradientShader");
gradientFilterMat = new Material(gradientShader);
Shader medianShader = Shader.Find("Kinect/MedianShader");
medianFilterMat = new Material(medianShader);
//sensorData.medianBodyMaterial.SetFloat("_Amount", 1.0f);
Shader blurShader = Shader.Find("Kinect/BlurShader");
blurFilterMat = new Material(blurShader);
Shader invertShader = Shader.Find("Kinect/InvertShader");
invertAlphaMat = new Material(invertShader);
Shader foregroundShader = Shader.Find("Kinect/ForegroundShader");
foregroundMat = new Material(foregroundShader);
if (filterByDist == null && filterByBI == null)
{
foregroundFilterShader = Resources.Load("ForegroundFiltBodyShader") as ComputeShader;
foregroundFilterKernel = foregroundFilterShader != null?foregroundFilterShader.FindKernel("FgFiltBody") : -1;
//foregroundFilterPos = new Vector4[KinectInterop.Constants.MaxBodyCount];
bodyPosMin = new Vector4[MAX_BODY_COUNT];
bodyPosMaxX = new Vector4[MAX_BODY_COUNT];
bodyPosMaxY = new Vector4[MAX_BODY_COUNT];
bodyPosMaxZ = new Vector4[MAX_BODY_COUNT];
bodyPosDot = new Vector4[MAX_BODY_COUNT];
}
return(true);
}
return(false);
}
